Method: Roby::PlanningLoop.filter_options

Defined in:
lib/roby/planning/loops.rb

.filter_options(options) ⇒ Object

Filters the options in options, splitting between the options that are specific to the planning task and those that are to be forwarded to the planner itself



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# File 'lib/roby/planning/loops.rb', line 79

def self.filter_options(options) # :nodoc:
    task_arguments, planning_options = Kernel.filter_options options, 
  :period => nil,
  :lookahead => 1,
  :planner_model => nil,
  :planned_model => Roby::Task,
  :method_name => nil,
  :method_options => {},
  :planning_owners => nil

    if !task_arguments[:method_name]
  raise ArgumentError, "required argument :method_name missing"
    elsif !task_arguments[:planner_model]
  raise ArgumentError, "required argument :planner_model missing"
    elsif task_arguments[:lookahead] < 0
  raise ArgumentError, "lookahead must be positive"
    end
    task_arguments[:period] ||= nil
    [task_arguments, planning_options]
end